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Student Talks
Communication-Efficient Active Reconstruction using Self-Organizing Gaussian Mixture Models
GHC 4405Abstract: For the multi-robot active reconstruction task, this thesis proposes using Gaussian mixture models (GMMs) as the map representation that enables multiple downstream tasks: high-fidelity static scene reconstruction, communication-efficient map sharing, and safe informative planning. A new method called Self-Organizing Gaussian mixture modeling (SOGMM) is proposed that estimates the model complexity (i.e., number of Gaussian [...]